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<h1>wtrans</h1><p><span class="helptopic">Transform a wrench between coordinate frames</span></p><p>
<strong>wt</strong> = <span style="color:red">wtrans</span>(<strong>T</strong>, <strong>w</strong>) is a wrench (6x1) in the frame represented by the homogeneous
transform <strong>T</strong> (4x4) corresponding to the world frame wrench <strong>w</strong> (6x1).

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The wrenches <strong>w</strong> and <strong>wt</strong> are 6-vectors of the form [Fx Fy Fz Mx My Mz]'.

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<h2>See also</h2>
<p>
<a href="tr2delta.html">tr2delta</a>, <a href="tr2jac.html">tr2jac</a></p>
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